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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/io/PointCloudIO.h"
#include <benchmark/benchmark.h>
#include "open3d/utility/Logging.h"
namespace open3d {
namespace benchmarks {
using open3d::io::ReadPointCloud;
using open3d::io::WritePointCloud;
namespace {
template <class T>
double AverageDistance(const std::vector<T> &a, const std::vector<T> &b) {
if (a.size() != b.size()) {
utility::LogError("vectors different size {} {}", a.size(), b.size());
}
if (a.size() == 0) {
return 0.;
}
double total = 0;
for (size_t i = 0; i < a.size(); ++i) {
total += (a[i] - b[i]).norm();
}
return total / a.size();
}
enum class IsAscii : bool { BINARY = false, ASCII = true };
enum class Compressed : bool { UNCOMPRESSED = false, COMPRESSED = true };
enum class Compare : uint32_t {
// Points are always compared
NONE = 0,
NORMALS = 1 << 0,
COLORS = 1 << 1,
NORMALS_AND_COLORS = NORMALS | COLORS
};
struct ReadWritePCArgs {
std::string filename;
IsAscii write_ascii;
Compressed compressed;
Compare compare;
};
std::vector<ReadWritePCArgs> g_pc_args({
// PCD has ASCII, BINARY, and BINARY_COMPRESSED
{"testau.pcd", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 0
{"testbu.pcd", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 1
{"testbc.pcd", IsAscii::BINARY, Compressed::COMPRESSED,
Compare::NORMALS_AND_COLORS}, // 2
{"testb.ply", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 3
{"testa.ply", IsAscii::ASCII, Compressed::UNCOMPRESSED,
Compare::NORMALS_AND_COLORS}, // 4
{"test.pts", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 5
{"test.xyz", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NONE}, // 6
{"test.xyzn", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::NORMALS}, // 7
{"test.xyzrgb", IsAscii::BINARY, Compressed::UNCOMPRESSED,
Compare::COLORS}, // 8
});
class TestPCGrid0 {
geometry::PointCloud pc_;
int size_ = 0;
const bool print_progress = false;
public:
void Setup(int size) {
if (size_ == size) return;
utility::LogInfo("setup PCGrid size={}", size);
pc_.Clear();
size_ = size;
for (int i = 0; i < size; ++i) {
// provide somewhat random numbers everywhere, so compression
// doesn't get a free pass
pc_.points_.push_back({std::sin(i * .8969920581) * 1000.,
std::sin(i * .3898546778) * 1000.,
std::sin(i * .2509962463) * 1000.});
pc_.normals_.push_back({std::sin(i * .4472367685),
std::sin(i * .9698787116),
std::sin(i * .7072878517)});
// color needs to be [0,1]
pc_.colors_.push_back({std::fmod(i * .4241490710, 1.0),
std::fmod(i * .6468026221, 1.0),
std::fmod(i * .5376722873, 1.0)});
}
}
void WriteRead(int pc_args_id) {
const auto &args = g_pc_args[pc_args_id];
const auto &pc = pc_;
// we loose some precision when saving generated data
if (!WritePointCloud(args.filename, pc,
{bool(args.write_ascii), bool(args.compressed),
print_progress})) {
utility::LogError("Failed to write to {}", args.filename);
}
geometry::PointCloud pc2;
if (!ReadPointCloud(args.filename, pc2,
{"auto", false, false, print_progress})) {
utility::LogError("Failed to read from {}", args.filename);
}
auto CheckLE = [](double a, double b) {
if (a <= b) return;
utility::LogError("Error too high: {} {}", a, b);
};
const double pointsMaxError =
1e-3; //.ply ascii has the highest error, others <1e-4
CheckLE(AverageDistance(pc.points_, pc2.points_), pointsMaxError);
if (int(args.compare) & int(Compare::NORMALS)) {
const double normalsMaxError =
1e-6; //.ply ascii has the highest error, others <1e-7
CheckLE(AverageDistance(pc.normals_, pc2.normals_),
normalsMaxError);
}
if (int(args.compare) & int(Compare::COLORS)) {
const double colorsMaxError =
1e-2; // colors are saved as uint8_t[3] in a lot of formats
CheckLE(AverageDistance(pc.colors_, pc2.colors_), colorsMaxError);
}
}
};
// reuse the same instance so we don't recreate the point cloud every time
TestPCGrid0 test_pc_grid0;
} // namespace
static void BM_TestPCGrid0(::benchmark::State &state) {
// state.range(n) are arguments that are passed to us
int pc_args_id = state.range(0);
int size = state.range(1);
test_pc_grid0.Setup(size);
for (auto _ : state) {
test_pc_grid0.WriteRead(pc_args_id);
}
}
static void BM_TestPCGrid0_Args(benchmark::internal::Benchmark *b) {
for (int j = 4 * 1024; j <= 256 * 1024; j *= 8) {
for (int i = 0; i < int(g_pc_args.size()); ++i) {
b->Args({i, j});
}
}
}
BENCHMARK(BM_TestPCGrid0)->MinTime(0.1)->Apply(BM_TestPCGrid0_Args);
} // namespace benchmarks
} // namespace open3d
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